Alessio Quaglino
6ead14614f
PiperOrigin-RevId: 453939612 Change-Id: I621f91d242b2974e6ae6acf239cdcb10efcb2629
30 lines
1.0 KiB
XML
30 lines
1.0 KiB
XML
<!-- This file is a playground for understanding different rotations.
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Currently, two examples are given:
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- A rotation in the xy plane about a ball joint located in the corner of a box.
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- A rotation in the xy plane about a free joing located in the center of a box.
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-->
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<mujoco>
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<option density="1000">
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
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<light pos="0 0 20"/>
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<body name="body_ball" pos="0 0 .5">
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<geom type="box" size=".5 .5 .1" pos="0 0 0"/>
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<joint name="ball" pos=".5 .5 0" axis="0 0 1" type="ball"/>
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</body>
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<body name="body_free" pos="3 0 .5">
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<freejoint name="free"/>
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<geom type="box" size=".5 .5 .1" pos="0 0 0"/>
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</body>
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</worldbody>
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<actuator>
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<general name="ball" joint="ball" dyntype="integrator" gear="0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
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<general name="free" joint="free" dyntype="integrator" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
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</actuator>
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</mujoco>
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